CN108408082A - A kind of unmanned plane and its operating method for big aircraft vertical fin crack detection - Google Patents
A kind of unmanned plane and its operating method for big aircraft vertical fin crack detection Download PDFInfo
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- CN108408082A CN108408082A CN201810139138.8A CN201810139138A CN108408082A CN 108408082 A CN108408082 A CN 108408082A CN 201810139138 A CN201810139138 A CN 201810139138A CN 108408082 A CN108408082 A CN 108408082A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
- G01N29/0609—Display arrangements, e.g. colour displays
- G01N29/0618—Display arrangements, e.g. colour displays synchronised with scanning, e.g. in real-time
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/06—Visualisation of the interior, e.g. acoustic microscopy
- G01N29/0654—Imaging
- G01N29/069—Defect imaging, localisation and sizing using, e.g. time of flight diffraction [TOFD], synthetic aperture focusing technique [SAFT], Amplituden-Laufzeit-Ortskurven [ALOK] technique
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/225—Supports, positioning or alignment in moving situation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/023—Solids
- G01N2291/0234—Metals, e.g. steel
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/0289—Internal structure, e.g. defects, grain size, texture
Abstract
The invention discloses a kind of unmanned plane and its operating method for big aircraft vertical fin crack detection, which includes more rotor flying platforms, flight controller, flying quality transmission radio station, ultrasonic test equipment, image delivering system and ground control system.The present invention also provides a kind of operating methods of the unmanned plane for big aircraft vertical fin crack detection.The present invention is using light-duty rotor wing unmanned aerial vehicle as platform, in conjunction with existing non-destructive testing technology, a kind of simple in structure, dependable performance, easy to use is provided, the unmanned vehicle of big aircraft vertical fin surface inspection can be fast implemented, greatly improve the working efficiency of aircraft skin nondestructive inspection.
Description
Technical field
The invention belongs to structural health monitoring technology fields, specifically, being related to a kind of for the spy of big aircraft vertical fin crackle
The unmanned plane and its operating method of survey.
Background technology
Aircraft skin is as the maximum component of aircraft exterior area, mainly by rivet in fuselage ring structure
On.Aircraft main aerodynamic load in flight course can all act on skin-surface, thus covering be easy to happen crackle,
The defects of deformation, the rivet for connecting covering also can be with the change on the deformation recurring structure of covering.The damage pair of aircraft skin
The safe flight of aircraft has tremendous influence, especially crackle.Fatigue and crackle in World Airways history due to material cause
The airplane crashes of many bitternesses.Therefore, it is to ensure that aircraft safety flies important to carry out damage check to aircraft skin to normalization
Means.If in addition, can find that covering damages in time, determines type of impairment and take corresponding maintenance measures, can effectively improve winged
The rate of attendance of machine.
Currently, the method for aircraft skin fault localization is mainly completed by manpower manual operation, working face visiting is detected
Inefficiency, omission factor height, detection device are surveyed close to problems such as difficulties, is examined especially for the high vertical fin of large aircraft
It surveys, above-mentioned problem seems especially prominent.
Document " Chinese invention patent of application publication number CN102928435A " discloses a kind of based on image and ultrasound letter
Cease the aircraft skin damage identification method and device of fusion, this method by obtaining the aircraft skin of each known damage type in advance
Image and ultrasonic echo signal, and extract the unity and coherence in writing feature and ultrasonic echo feature of image, finally carry out the two pair
Than judging covering type of impairment.Meanwhile the document also discloses that a kind of damaged based on image and the aircraft skin of ultrasound information fusion
Hinder identification device.But the above invention content only resides within aircraft skin defect-detecting equipment level, equipment in use can
It is not directed to up to the problems such as property, portability and high efficiency, which can not solve nondestructiving inspecting equipment in routine use mistake
In journey faced close to difficult, inefficiency the problem of.Therefore, it detects and determines for the course line of large aircraft higher position
Phase is detected, there is an urgent need to it is a kind of can maintenance personal it is visual manipulate under each position of fast approaching aircraft vertical fin, while energy
Aircraft surfaces are promptly damaged the equipment detected by enough real-time display skin-surface situations.
In recent years, unmanned air vehicle technique development is swift and violent, is especially capable of the light-duty gyroplane of VTOL, many fields all
It is widely used and significant advantage.
Invention content
Present invention aims at provide a kind of unmanned plane and its operating method for big aircraft vertical fin crack detection.For
Non-destructive testing technology is combined with light-duty rotor wing unmanned aerial vehicle, devises one kind and carry by the detection of large aircraft vertical fin crackle
The light-duty rotor wing unmanned aerial vehicle of Air Coupling formula ultrasonic detection device.This equipment can not only improve the work effect of maintenance personal
Rate, while the accuracy of testing result can be also promoted, Airplane detection, maintenance cost is greatly reduced.
Its specific technical solution is：
A kind of unmanned plane for big aircraft vertical fin crack detection, including the more rotor flying platforms of four axis, flight controller, flight
Data transmission radio station, ultrasonic test equipment, image delivering system and ground control system.Wherein, the more rotor flyings of four axis are flat
Platform includes rack, and motor, propeller, electricity are adjusted, battery；Flight controller is using the ripe more rotor flying controllers of technical grade；
Flying quality transmission radio station is made of transmitting module and receiving module；Ultrasonic test equipment by ultrasonic wave detector, probe and
Mechanical arm forms；Image delivering system is made of barn door, high resolution camera and image transmission module；Ground control system packet
Include aircraft flight action control module, aircraft flight data transmission radio station receiving module, RTK positioning systems.Overall structure
Figure is as shown in Figure 1.
Connection type between each section is as shown in Fig. 2 ~ 5.The center portion of quadrotor flying platform is by upper and lower two blocks of aluminium
Alloy sheets are bolted, and the electricity of wherein quadrotor adjusts 10, battery 11, flight controller 5, image transmitting mould
Block 8, the transmitting module 9 of flying quality transmission radio station are bolted under 4 center portion of quadrotor flying platform
On plate；Mechanical arm 7 is fixed on by belt pulley and motor under the lower plate of 4 center portion of quadrotor flying platform, ultrasonic wave
Probe 6 is bolted on mechanical arm 7；Camera 2 is fixed on by card slot on barn door 1, and ultrasonic wave detector 3 is placed on
Inside barn door 1, barn door 1 is bolted on the upper plate of more 4 center portions of rotor flying platform.
The more rotor flying platforms 4 of four axis use full carbon fiber rack 12, brushless motor 13 to drive 14 conduct of propeller
Power is equipped with high load electricity tune 10, and airborne high-capacity lithium ion battery polymer battery 11 provides the energy for whole system；
Using the ripe more rotor flying controllers of technical grade, it is mounted in quadrotor flying platform 4 flight controller 5
In the lower plate for entreating part, aircraft is made to land automatically from after steady, losing fixed high spot hover, remote signal automatically with posture,
The function of aircraft flight data is automatically recorded, aircraft flight carries out manual operation using ground remote control device, and whole system is protected
Card aircraft precisely reaches the vertical fin position for needing to detect.
The flying quality transmission radio station is divided into transmitting module and receiving module, using 433MHz frequencies, transmitting module peace
In the lower plate of 4 center portion of quadrotor flying platform, it is connect with controller of aircraft 5, it can be high by the flight of aircraft
It is sent to ground receiver module, receiving module after the acquisition of information such as degree, flying speed, cell voltage, flight control system voltage
It is installed in ground control system, for receiving flying quality information and showing, the operating mode of aircraft is made for staff
Judge.
The ultrasonic test equipment is made of ultrasonic wave detector 3, probe 6 and mechanical arm 7.Ultrasonic wave detector
It can show the waveform at detection, condition of the injury situation is substantially may determine that by waveform；Probe use Air Coupling formula, avoid and
Searching surface is in direct contact.Different location in face of aircraft vertical fin surface realizes the movement of probe using airplane model steering engine, into
And realize the detection to aircraft vertical fin surface upper and lower, left and right different location.Particular by installation stepping electricity on the robotic arm
Machine realizes the movement of mechanical arm by remote control, and to change the direction of probe, steering engine can be with each of control machinery arm
A node realizes autokinetic movement, by carrying out programming in flight control system, mechanical arm may be implemented and transported under artificial manipulate
It is dynamic.
Described image Transmission system is made of barn door 1, high resolution camera 2 and image transmission module 8.Image transmission system can
The oscillogram of supersonic detector is transmitted directly in a manner of real-time video in a manner of by Wi-Fi or Bluetooth transmission
In the display of ground handling operator, the condition of the injury is judged for ground staff.
The ground control system receives mould by aircraft flight action control module, aircraft flight data transmission radio station
Block, RTK positioning systems composition.Wherein, aircraft flight action control module uses 2.4GHz frequency multichannel proportional remote control devices,
For controlling aircraft flight posture and detecting devices holder posture；Aircraft flight data transmission radio station receiving module is for connecing
Receive flight information；RTK positioning systems include can temporary erection the mobile base stations RTK and unmanned aerial vehicle onboard movement station.RTK moves base
It stands for acquiring accurately GPS differential datas, while sending differential data to airborne movement station, airborne movement station is again by difference
Data are converted to the location information used for flight control system, to realize the precise positioning of unmanned plane.
A kind of operating method of unmanned plane for big aircraft vertical fin crack detection, includes the following steps：
The first step：To ensure flight precision, unmanned plane needs to set up the mobile base stations RTK for it before operation of taking off, to provide
High-precision GPS differential datas.Mobile base station frame need to be located near operating area, and keep open unobstructed around, with maximum
Change the coverage area that ground improves base station.Unmanned plane is communicated by data transmission radio station with base station after being powered, so that it is determined that nothing
Man-machine position, and according to the relative position of detected aircraft wing and wing shape, by earth station's Software Create stereoscan
Course line is uploaded to unmanned plane；
Second step：After the completion of scanning course line upload, unmanned plane takes off, and winged around the aerofoil of detected aircraft by setting course line
Row.In flight course, to ensure that Effect on Detecting, unmanned plane are controlled using airborne laser radar at a distance from aerofoil surface, machine
Position of the tool arm according to unmanned plane itself relative to vertical fin, always by alignment probe aircraft vertical fin skin-surface；
Third walks：The image data of the supersonic detector detected beams back ground in the form of video by data transmission radio station
End carries out condition of the injury diagnosis by ground staff according to back information.When detecting at doubtful, ultrasonic wave detector can send out police
Report, unmanned plane hovering, detects and records to suspicious lesion position emphasis at this time, and the total data in detection process is stored in data
Library forms the condition of the injury and diagnoses big data；
4th step：After unmanned plane completes scanning flight, into landing course line Autonomous landing to takeoff point, detection operation is completed.
Compared with prior art, beneficial effects of the present invention are：
The present invention is using light-duty rotor wing unmanned aerial vehicle as platform, and in conjunction with existing non-destructive testing technology, providing a kind of simple in structure, performance can
It leans on, is easy to use, the unmanned vehicle of big aircraft vertical fin surface inspection can be fast implemented, greatly improving the lossless spy of aircraft skin
The working efficiency of wound.
Description of the drawings
Fig. 1 is the structural schematic diagram for the unmanned plane of big aircraft vertical fin crack detection.
Fig. 2 is the partial enlargement connection diagram of quadrotor flying platform center portion and flight controller, mechanical arm.
Fig. 3 is the partial enlargement connection diagram of mechanical arm and probe.
Fig. 4 is the partial enlargement connection diagram of camera, barn door, defectoscope.
Fig. 5 is the partial enlargement connection diagram of defectoscope and quadrotor platform.
Specific implementation mode
Technical scheme of the present invention is described in more detail in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, a kind of unmanned plane for big aircraft vertical fin crack detection, including the more rotor flying platforms of four axis,
Flight controller, flying quality transmission radio station, ultrasonic test equipment, image delivering system and ground control system.Wherein, four
The more rotor flying platforms of axis include rack, and motor, propeller, electricity are adjusted, battery；Flight controller is revolved more using ripe technical grade
Wing flight controller；Flying quality transmission radio station is made of transmitting module and receiving module；Ultrasonic test equipment is by ultrasonic wave
Survey meter, probe and mechanical arm composition；Image delivering system is made of barn door, high resolution camera and image transmission module；
Ground control system includes aircraft flight action control module, aircraft flight data transmission radio station receiving module, RTK positioning
System.Overall structure figure is as shown in Figure 1.
Connection type between each section is as shown in Fig. 2 ~ 5.The center portion of quadrotor flying platform is by upper and lower two blocks of aluminium
Alloy sheets are bolted, and the electricity of wherein quadrotor adjusts 10, battery 11, flight controller 5, image transmitting mould
Block 8, the transmitting module 9 of flying quality transmission radio station are bolted under 4 center portion of quadrotor flying platform
On plate；Mechanical arm 7 is fixed on by belt pulley and motor under the lower plate of 4 center portion of quadrotor flying platform, ultrasonic wave
Probe 6 is bolted on mechanical arm 7；Camera 2 is fixed on by card slot on barn door 1, and ultrasonic wave detector 3 is placed on
Inside barn door 1, barn door 1 is bolted on the upper plate of more 4 center portions of rotor flying platform.
The more rotor flying platforms 4 of four axis use full carbon fiber rack 12, brushless motor 13 to drive 14 conduct of propeller
Power is equipped with high load electricity tune 10, and airborne high-capacity lithium ion battery polymer battery 11 provides the energy for whole system；
Using the ripe more rotor flying controllers of technical grade, it is mounted in quadrotor flying platform 4 flight controller 5
In the lower plate for entreating part, aircraft is made to land automatically from after steady, losing fixed high spot hover, remote signal automatically with posture,
The function of aircraft flight data is automatically recorded, aircraft flight carries out manual operation using ground remote control device, and whole system is protected
Card aircraft precisely reaches the vertical fin position for needing to detect.
The flying quality transmission radio station is divided into transmitting module and receiving module, using 433MHz frequencies, transmitting module peace
In the lower plate of 4 center portion of quadrotor flying platform, it is connect with controller of aircraft 5, it can be high by the flight of aircraft
It is sent to ground receiver module, receiving module after the acquisition of information such as degree, flying speed, cell voltage, flight control system voltage
It is installed in ground control system, for receiving flying quality information and showing, the operating mode of aircraft is made for staff
Judge.
The ultrasonic test equipment is made of ultrasonic wave detector 3, probe 6 and mechanical arm 7.Ultrasonic wave detector
It can show the waveform at detection, condition of the injury situation is substantially may determine that by waveform；Probe use Air Coupling formula, avoid and
Searching surface is in direct contact.Different location in face of aircraft vertical fin surface realizes the movement of probe using airplane model steering engine, into
And realize the detection to aircraft vertical fin surface upper and lower, left and right different location.Particular by installation stepping electricity on the robotic arm
Machine realizes the movement of mechanical arm by remote control, and to change the direction of probe, steering engine can be with each of control machinery arm
A node realizes autokinetic movement, by carrying out programming in flight control system, mechanical arm may be implemented and transported under artificial manipulate
It is dynamic.
Described image Transmission system is made of barn door 1, high resolution camera 2 and image transmission module 8.Image transmission system can
The oscillogram of supersonic detector is transmitted directly in a manner of real-time video in a manner of by Wi-Fi or Bluetooth transmission
In the display of ground handling operator, the condition of the injury is judged for ground staff.
The ground control system receives mould by aircraft flight action control module, aircraft flight data transmission radio station
Block, RTK positioning systems composition.Wherein, aircraft flight action control module uses 2.4GHz frequency multichannel proportional remote control devices,
For controlling aircraft flight posture and detecting devices holder posture；Aircraft flight data transmission radio station receiving module is for connecing
Receive flight information；RTK positioning systems include can temporary erection the mobile base stations RTK and unmanned aerial vehicle onboard movement station.RTK moves base
It stands for acquiring accurately GPS differential datas, while sending differential data to airborne movement station, airborne movement station is again by difference
Data are converted to the location information used for flight control system, to realize the precise positioning of unmanned plane.
Its main feature is that：
1. quadrotor flying platform.Using full carbon fiber rack, brushless motor drives propeller as power, is equipped with high load electricity
It adjusts, airborne high-capacity lithium ion battery polymer battery provides the energy for whole system.
2. flight controller.Using the ripe more rotor flying controllers of technical grade, it is flat that flight controller is installed on flight
On platform, so that aircraft is had, posture is certainly steady, determine high spot hover automatically, remote signal is landed automatically after losing, it is winged to automatically record
The function of row device flying quality.Aircraft flight carries out manual operation using ground remote control device, and easy to operate, flight stability is whole
Set system ensures that aircraft precisely reaches the vertical fin position for needing to detect.
3. flying quality transmission radio station.It is divided into transmitting module and receiving module, using 433MHz frequencies, transmitting module installation
In quadrotor flying platform, connect with controller of aircraft, can by the flying height of aircraft, flying speed, cell voltage,
Ground receiver module is sent to after the acquisition of information such as flight control system voltage, receiving module is installed in ground control system,
For receiving flying quality information and showing, the operating mode of aircraft is judged for staff.
4. ultrasonic test equipment.It is made of ultrasonic wave detector, probe and mechanical arm.Ultrasonic wave detector can be shown
Waveform at detection substantially may determine that condition of the injury situation by waveform；Probe uses Air Coupling formula, avoids and searching surface
Be in direct contact.Different location in face of aircraft vertical fin surface realizes the movement of probe, and then realization pair using airplane model steering engine
The detection of aircraft vertical fin surface upper and lower, left and right different location.Particular by stepper motor is installed on the robotic arm, by distant
Device is controlled to realize the movement of mechanical arm, to change the direction of probe, steering engine can be real with each node of control machinery arm
Existing autokinetic movement may be implemented mechanical arm and moved under artificial manipulate by carrying out programming in flight control system.
5. image delivering system.It is made of barn door, high resolution camera and image transmitting, receiving module.Image transmission system
The oscillogram of supersonic detector can directly be transmitted in a manner of real-time video by way of Wi-Fi or Bluetooth transmission
Into the display of ground handling operator, the condition of the injury is judged for ground staff.
6. ground control system.Mould is received by aircraft flight action control module, aircraft flight data transmission radio station
Block, RTK positioning systems composition.Wherein, aircraft flight action control module uses 2.4GHz frequency multichannel proportional remote control devices,
For controlling aircraft flight posture and detecting devices holder posture；Aircraft flight data transmission radio station receiving module is for connecing
Receive flight information；RTK positioning systems include can temporary erection the mobile base stations RTK and unmanned aerial vehicle onboard movement station.RTK moves base
It stands for acquiring accurately GPS differential datas, while sending differential data to airborne movement station, airborne movement station is again by difference
Data are converted to the location information used for flight control system, to realize the precise positioning of unmanned plane.
The course of work
The first step：To ensure flight precision, unmanned plane needs to set up the mobile base stations RTK for it before operation of taking off, to provide
High-precision GPS differential datas.Mobile base station frame need to be located near operating area, and keep open unobstructed around, with maximum
Change the coverage area that ground improves base station.Unmanned plane is communicated by data transmission radio station with base station after being powered, so that it is determined that nothing
Man-machine position, and according to the relative position and vertical fin shape of detected aircraft vertical fin, by earth station's Software Create stereoscan
Course line is uploaded to unmanned plane；
Second step：After the completion of scanning course line upload, unmanned plane takes off, and winged around the aerofoil of detected aircraft by setting course line
Row.In flight course, to ensure that Effect on Detecting, unmanned plane are controlled using airborne laser radar at a distance from vertical fin surface, machine
Position of the tool arm according to unmanned plane itself relative to aircraft vertical fin, always by alignment probe aircraft skin surface；
Third walks：The image data detected beams back ground surface end in the form of video by data transmission radio station, by ground staff
Condition of the injury diagnosis is carried out according to back information.When detecting at doubtful, ultrasonic wave detector can send out alarm, and unmanned plane is outstanding at this time
Stop, suspicious lesion position emphasis is detected and recorded, the total data in detection process is stored in database, and it is big to form condition of the injury diagnosis
Data；
4th step：After unmanned plane completes scanning flight, into landing course line Autonomous landing to takeoff point, detection operation is completed.
The foregoing is only a preferred embodiment of the present invention, protection scope of the present invention is without being limited thereto, it is any ripe
Those skilled in the art are known in the technical scope of present disclosure, the letter for the technical solution that can be become apparent to
Altered or equivalence replacement are each fallen in protection scope of the present invention.
Claims (5)
1. a kind of unmanned plane for big aircraft vertical fin crack detection, which is characterized in that including the more rotor flying platforms of four axis, fly
Line control unit, flying quality transmission radio station, ultrasonic test equipment, image delivering system and ground control system are constituted；Wherein,
The more rotor flying platforms of four axis include rack, and motor, propeller, electricity are adjusted, battery；Flight controller is more using ripe technical grade
Rotor flying controller；Flying quality transmission radio station is made of transmitting module and receiving module；Ultrasonic test equipment is by ultrasound
Wave survey meter, probe and mechanical arm composition；Image delivering system is by barn door, high resolution camera and image transmission module group
At；Ground control system includes aircraft flight action control module, aircraft flight data transmission radio station receiving module, RTK
Positioning system；
The center portion of the quadrotor flying platform is bolted by upper and lower two pieces of aluminium alloy plates, wherein four rotations
The electricity of rotor aircraft is adjusted（10）, battery（11）, flight controller（5）, image transmission module（8）, flying quality transmission radio station
Transmitting module（9）All it is to be bolted on quadrotor flying platform（4）On the lower plate of center portion；Mechanical arm（7）It is logical
It crosses belt pulley and motor is fixed on quadrotor flying platform（4）Under the lower plate of center portion, ultrasonic probe（6）Pass through bolt
It is fixed on mechanical arm（7）On；Camera（2）It is fixed on barn door by card slot（1）On, ultrasonic wave detector（3）It is placed on shading
Plate（1）Inside, barn door（1）It is bolted on more rotor flying platforms（4）The upper plate of center portion.
2. the unmanned plane according to claim 1 for big aircraft vertical fin crack detection, which is characterized in that four axis is more
Rotor flying platform（4）Using full carbon fiber rack（12）, brushless motor（13）Drive propeller（14）As power, it is equipped with high
Load electricity is adjusted（10）, airborne high-capacity lithium ion battery polymer battery（11）The energy is provided for whole system.
3. the unmanned plane according to claim 1 for big aircraft vertical fin crack detection, which is characterized in that the flight number
433MHz frequencies, transmitting module is used to be mounted on quadrotor flying platform according to transmission radio station（4）In the lower plate of center portion, with fly
Row device controller（5）Connection.
4. the unmanned plane according to claim 1 for big aircraft vertical fin crack detection, which is characterized in that the aircraft
Flare maneuver control module uses 2.4GHz frequency multichannel proportional remote control devices, is set with detection for controlling aircraft flight posture
Standby holder posture；Aircraft flight data transmission radio station receiving module is for receiving flight information；RTK positioning systems include interim
The mobile base stations RTK of erection and unmanned aerial vehicle onboard movement station；The mobile base stations RTK are for acquiring accurately GPS differential datas, simultaneously
Send differential data to airborne movement station, differential data is converted to the position used for flight control system by airborne movement station again
Confidence ceases, to realize the precise positioning of unmanned plane.
5. a kind of operating method of unmanned plane for big aircraft vertical fin crack detection, which is characterized in that include the following steps：
The first step：To ensure flight precision, unmanned plane needs to set up the mobile base stations RTK for it before operation of taking off, to provide
High-precision GPS differential datas；Mobile base station frame need to be located near operating area, and keep open unobstructed around, with maximum
Change the coverage area that ground improves base station；Unmanned plane is communicated by data transmission radio station with base station after being powered, so that it is determined that nothing
Man-machine position, and according to the relative position and vertical fin shape of detected aircraft vertical fin, by earth station's Software Create stereoscan
Course line is uploaded to unmanned plane；
Second step：After the completion of scanning course line upload, unmanned plane takes off, and winged around the aerofoil of detected aircraft by setting course line
Row；In flight course, to ensure that Effect on Detecting, unmanned plane are controlled using airborne laser radar at a distance from vertical fin surface, machine
Position of the tool arm according to unmanned plane itself relative to aircraft, always by alignment probe aircraft skin surface；
Third walks：The image data detected beams back ground surface end in the form of video by data transmission radio station, by ground staff
Condition of the injury diagnosis is carried out according to back information, suspicious lesion position emphasis is detected and recorded, the total data deposit in detection process
Database forms the condition of the injury and diagnoses big data；
4th step：After unmanned plane completes scanning flight, into landing course line Autonomous landing to takeoff point, detection operation is completed.
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